ECD++ A DEVS based Real-Time Simulator for Embedded Systems

Mohammad Moallemi, J. Marcelo Gutierrez-Alcaraz and Gabriel Wainer

2008 Spring Simulation Multiconference (SpringSim'08)- Poster Sessions (SCS-Poster sessions 2008)
Ottawa, Canada, April 14 - 17, 2008

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Summary

In this paper we will present an M&S-driven framework to develop embedded systems based on the DEVS (Discrete Event systems Specification) formalism. DEVS provides a formal foundation to M&S that proved to be successful in different complex systems. This approach combines the advantages of a simulation-based approach with the rigor of a formal methodology. Another advantage of using DEVS is that different existing techniques (Bond Graphs, Cellular Automata, Partial Differential Equations, Queuing models, etc.) have been successfully transformed into DEVS models. CD++ is a software environment that implements DEVS theory with extensions to support real-time model execution in embedded systems. CD++ was used as the base for our development, building on previous research focused on real-time applications with hardware-in-the-loop. Embedded CD++ (ECD++) has been developed based on this tool to accomplish this aim. A small robocart has been built and tested with ECD++. The robocart uses sonar and touch sensor to detect obstacles on its way. At the end, ECD++ program has been compiled for the target and run using telnet connection on the board.

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